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Walking micro-inertial navigation device azimuth installation deviation correcting method

A technology of navigation equipment and installation deviation, applied in the field of micro-inertial navigation system, can solve problems such as inability to calibrate and correct in advance, azimuth installation error, continuous accumulation of navigation and positioning errors, etc. simple method effect

Active Publication Date: 2019-02-26
BEIJING AUTOMATION CONTROL EQUIP INST
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AI Technical Summary

Problems solved by technology

[0002] In the use of walking micro-inertial navigation equipment, due to the different gait habits of each person, there is an angle between the direction of the toe and the direction of travel. Although this angle is relatively fixed for everyone, it varies from person to person and cannot be calibrated in advance. and correction
For pedestrian micro-inertial navigation equipment, this angle is equivalent to azimuth installation error, which will cause continuous accumulation of navigation and positioning errors

Method used

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  • Walking micro-inertial navigation device azimuth installation deviation correcting method
  • Walking micro-inertial navigation device azimuth installation deviation correcting method
  • Walking micro-inertial navigation device azimuth installation deviation correcting method

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Embodiment Construction

[0042] The present invention will be further described below through specific embodiments.

[0043] This coordinate system is defined as follows:

[0044] b: carrier coordinate system ox b the y b z b , the upper right coordinate system, x b The axis points to the right of the body, y b The axis points to the front of the body, z b The axis points to the top of the human body; n: navigation coordinate system ox n the y n z n ,z n axis pointing to the sky, y n The axis points to the forward direction of the initial moment of the carrier in the horizontal plane, x n axis and y n axis and z n The axes form a Cartesian coordinate system.

[0045] Step 1) Initial static condition setup

[0046] Install the pedestrian micro-inertial navigation device on the sole of the user's foot, and the user stands facing north and remains still for more than 30s (30-50s).

[0047] Step 2) under static initial condition state, utilize accelerometer information to determine the hori...

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Abstract

The invention belongs to the technical field of micro-inertial navigation systems, and specifically discloses a walking micro-inertial navigation device azimuth installation deviation correcting method, which comprises: after setting initial static conditions, determining the horizontal attitude information of a walking micro-inertial navigation device through the information of an accelerometer;carrying out state correcting on the walking micro-inertial navigation device; determining azimuth installation deviation; compensating the sampling value of the walking micro-inertial navigation device to obtain positioning error accumulation caused by the azimuth installation error, ie., the lateral displacement, such that the azimuth installation error is estimated; and correcting before inertial navigation solution. According to the present invention, the operation method is simple, the azimuth installation error is estimated accurately, the correcting method is easy to perform, and the navigation positioning precision of the walking micro-inertial navigation device can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of micro-inertial navigation systems, and in particular relates to a method for correcting azimuth installation deviation of a foot-installed micro-inertial navigation system for walking. Background technique [0002] In the use of walking micro-inertial navigation equipment, due to the different gait habits of each person, there is an angle between the direction of the toe and the direction of travel. Although this angle is relatively fixed for everyone, it varies from person to person and cannot be calibrated in advance. and correction. For pedestrian micro-inertial navigation equipment, this angle is equivalent to azimuth installation error, which will cause continuous accumulation of navigation positioning errors. Therefore, certain measures must be taken to correct it, so as to improve the navigation and positioning accuracy of pedestrian micro-inertial navigation equipment. Contents of the invention...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 马涛李永锋蔡善军王根郭元江朱红
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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